Thank you for your response Surya. In the documentation, I found that the rigid body coordinate frame must be placed at the center of mass. I created my global coordinate frame at the pivot (same orientaion as the rigid body coordinate frame but Y axis translated by a certain amount). So, should I specify the mass moment of intertia about global axes instead of center of mass? Also, in the "Dynamics tab", the documentation states that the rotational degrees of freedom have to specified w.r.t. a coordinate frame

• Has the same initial orientation as the rigid body coordinate frame

• Has its origin at the rigid body center of mass

• Moves rigidly with the rigid body

How can these conditions be satisfied even I specify the mass moment of inertia about the global axis?

Thank you!